www.gusucode.com > control 案例程序 matlab源码代码 > control/ConvertDynamicSystemToParallelFormPIDControllerExample.m
%% Convert Dynamic System to Parallel-Form PID Controller % Convert a continuous-time dynamic system that represents a PID controller % to parallel |pid| form. %% % The following dynamic system, with an integrator and two zeros, % is equivalent to a PID controller. %% % % $$H\left( s \right) = \frac{{3\left( {s + 1} \right)\left( {s + 2} \right)}}{s}.$$ % %% % Create a |zpk| model of _H_. Then use the |pid| command to obtain _H_ in % terms of the PID gains |Kp|, |Ki|, and |Kd|. % Copyright 2015 The MathWorks, Inc. H = zpk([-1,-2],0,3); C = pid(H)